Open Access
表1
起跳阶段机器人参数
| 构件号 | 关节转角范围/(°) | 关节偏距di/mm | 杆长li/mm | 关节扭角αi/(°) |
| 1 | θ1∈[124, 144] | 0 | 35 | 0 |
| 2 | θ2=40 | 0 | 32 | 0 |
| 3 | θ3∈[20, 40] | 0 | [60, 135] | 0 |
| 4 | θ4=114 | 0 | 82 | 0 |
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